Creating these Soft Baked Maple Donut Bars is straightforward if you follow these simple steps:

1. Preheat Oven: Preheat your oven to 350°F (175°C). Grease a 9×13 inch baking pan or line it with parchment paper for easy removal.

2. Mix Dry Ingredients: In a large mixing bowl, whisk together the flour, granulated sugar, brown sugar, baking powder, baking soda, salt, cinnamon, and nutmeg.

3. Combine Wet Ingredients: In another bowl, beat the eggs. Then add the milk, applesauce, vanilla extract, maple syrup, and melted butter. Mix until well combined.

4. Combine Mixtures: Gradually add the wet ingredients to the dry ingredients. Stir until there are no dry spots; be careful not to overmix.

5. Pour Batter: Pour the batter into the prepared baking pan, spreading it evenly.

6. Bake: Place in the preheated oven and bake for 25-30 minutes, or until a toothpick inserted into the center comes out clean.

7. Cool: Remove from the oven and let it cool in the pan for about 10-15 minutes. Then transfer to a wire rack to cool completely.

8. Make the Glaze: In a small bowl, combine powdered sugar, maple syrup, and milk. Whisk until smooth. Adjust the consistency as needed with more sugar or milk.

9. Drizzle the Glaze: Once the bars are completely cooled, drizzle the maple glaze over the top. Allow the glaze to set for a few minutes before slicing.

10. Cut and Enjoy: Cut into squares or bars and serve. Enjoy your delicious Soft Baked Maple Donut Bars!